Systems, devices, and/or methods for managing targeted payload descent

ABSTRACT

Certain exemplary embodiments can provide a system, machine, device, manufacture, circuit, composition of matter, and/or user interface adapted for and/or resulting from, and/or a method and/or machine-readable medium comprising machine-implementable instructions for, activities that can comprise and/or relate to, providing a guided descent from a release zone and toward an entry zone.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application claims priority to, and incorporates by referenceherein in its entirety, U.S. Provisional Patent Application 61/636,197,filed 20 Apr. 2012.

STATEMENT OF GOVERNMENTAL SUPPORT

This invention was made with government support under contractsN68335-12-C-0193 and N68335-11-C-0059 awarded by the U.S. Navy. Thegovernment has certain rights in the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

A wide variety of potential, feasible, and/or useful embodiments will bemore readily understood through the herein-provided, non-limiting,non-exhaustive description of certain exemplary embodiments, withreference to the accompanying exemplary drawings in which:

FIG. 1A is a perspective view of an exemplary sonobuoy internal module;

FIG. 1B is a perspective view of an exemplary integrated sonobuoy glideharness with stowed aerodynamic surfaces (ISG);

FIG. 1C is a perspective view of an exemplary integrated sonobuoy glideharness with deployed aerodynamic surfaces (ISG);

FIG. 2A is a top view of an exemplary sonobuoy internal module;

FIG. 2B is a top view of an exemplary integrated sonobuoy glide harnesswith stowed aerodynamic surfaces (ISG);

FIG. 2C is a top view of an exemplary integrated sonobuoy glide harnesswith deployed aerodynamic surfaces (ISG);

FIG. 3A is a perspective view of an exemplary sonobuoy internal modulemounted within an exemplary ISG with stowed aerodynamic surfaces.

FIG. 3B is a perspective view of an exemplary sonobuoy internal modulemounted within an exemplary ISG with deployed aerodynamic surfaces.

FIG. 4 is a perspective view of an exemplary vehicle fitting within anexemplary SLC.

FIG. 5 is a front view of exemplary sonobuoy internal module, mountedwithin exemplary ISG, sitting within exemplary SLC

FIG. 6 is a cross-sectional view taken at line A-A of FIG. 5 anddemonstrating exemplary nesting of exemplary launch tube, SLC, ISG, andsonobuoy internal module;

FIG. 7 is a block diagram of an exemplary guidance and control system;

FIG. 8 is a vector diagram of an exemplary lateral heading controllogic;

FIG. 9 is a vector diagram of an exemplary longitudinal control logic;

FIG. 10 is a side view of the original sonobuoy;

FIG. 11 is a side view of an exemplary embodiment of a modified sonobuoyvehicle;

FIG. 12 is a perspective view of an original parachute housing;

FIG. 13 is a perspective view of a modified parachute housing;

FIGS. 14A-E are side views of an exemplary embodiment of a modifiedparachute housing;

FIGS. 15A-C are perspective views of an exemplary embodiment of amodified parachute housing;

FIGS. 16A-E are perspective views of an exemplary embodiment of asonobuoy deployment sequence;

FIG. 17 is a block diagram of an exemplary embodiment of an informationdevice; and

FIG. 18 is a flowchart of an exemplary embodiment of a method.

DESCRIPTION

Certain exemplary embodiments can provide a tube-launched integratedsonobuoy glide harness (ISG) and/or one or more online adaptive guidancealgorithms.

Certain exemplary embodiments can provide a tube-launched sonobuoyvehicle comprising an integrated sonobuoy glide harness (ISG) mechanismoperably mounted to and substantially containing a naval sonobuoy. TheISG can be adapted for adaptively guiding the sonobuoy from a launchtube of an in-flight aircraft to a predetermined water-entry location. Ahigh altitude sonobuoy vehicle release can improve the safety of thetransport aircraft by increasing the standoff distance from enemytargets. When released from high altitudes, the sonobuoy vehicle cantransport the sonobuoy for several nautical miles. Multiple sonobuoyvehicles can be launched and/or released from a common deploymentmechanism and/or point on the aircraft and/or the aircraft's flightpath. Each launched sonobuoy vehicle can utilize an onboard adaptiveguidance algorithm to navigate its sonobuoy to a predetermined, unique,and/or precise water entry location defined by a predetermined waterentry longitude and a predetermined water entry latitude. A group ofdeployed sonobuoys can establish a sonobuoy defense pattern within apredetermined water entry region and/or zone, that region and/or zonepotentially defined by a predetermined range of water entry longitudesand/or a predetermined range of water entry latitudes.

FIG. 1A, FIG. 1B, and FIG. 1C are respective perspective views of anexemplary sonobuoy internal module 1100, an exemplary ISG 1200 withstowed wing and tail surfaces, and an exemplary ISG 1300 with deployedwing and tail surfaces.

FIG. 2A, FIG. 2B, and FIG. 2C are respective top views of an exemplarysonobuoy internal module 2100, an exemplary ISG 2200 with stowed wingand tail surfaces, and an exemplary ISG 2300 with deployed wing and tailsurfaces.

FIG. 3A and FIG. 3B are perspective views of an exemplary sonobuoyinternal module mounted within an exemplary ISG to form a sonobuoyvehicle 3100. FIG. 3A shows the ISG wing and tails stowed. FIG. 3B showsthe ISG wing and tails deployed.

FIG. 4 is a perspective view of an exemplary sonobuoy vehicle 4100fitting within an exemplary sonobuoy launch container (“SLC”) 4200.Typically, only vehicle 4100 is deployed in-flight and SLC 4200 remainssecured within an aircraft launch tube (shown in FIG. 6).

FIG. 5 is a front view of an exemplary sonobuoy internal module 5100,mounted within an exemplary ISG 5200, and located within an exemplarySLC 5300.

FIG. 6 is a front view of an exemplary sonobuoy internal module 6100nested within an exemplary ISG 6200, the ISG nested within an exemplarySLC 6300, the SLC nested within an exemplary aircraft launch tube 6400.

Referring to FIGS. 1-6, certain exemplary embodiments of the ISG canprovide an integrated vehicle glide harness that can replace theexternal housing of a typical sonobuoy with a low-profile structure thatcan house and/or deploy aerodynamic lifting surfaces (see FIG. 1, FIG.2, and FIG. 3) that are adapted to guide the sonobuoy to a predeterminedwater entry location. The operably combined sonobuoy internal module andISG (sometimes referred to herein as a “vehicle”) can be adapted to fitwithin a standard size-A Sonobuoy Launch Container (SLC) as shown inFIG. 4. The wing and/or tail surfaces of the glide harness can belocated within the available empty volume that would otherwise existbetween the sonobuoy and the SLC as shown in FIG. 5. The SLC does notdeploy. It can mount within the aircraft launch tube. An exemplarynested configuration (sonobuoy internal module, ISG, SLC, and aircraftlaunch tube) is shown in FIG. 6.

The ISG can provide a gliding capability for a wide range of sonobuoyconfigurations with minimal to no impact on the sonobuoy internal moduledimensions and/or manufacturing processes. That is, the ISG can beadapted to fit nearly any sonobuoy without requiring adaptation of thesonobuoy internal module. The sonobuoy internal module can fit insidethe ISG to form a sonobuoy vehicle that can be deployed from a launchtube that is mounted on an aircraft (and/or other type of launchplatform).

Immediately after launch, a stabilization parachute can be deployedand/or one or more tail control surfaces can be deployed from the rearof the vehicle and/or can be used to orient the vehicle and/or pitch itup into the attitude required for gliding. Before, during and/or afterdeployment of the tail control surface(s), ISG control instructions cancommand a main wing located on the ISG to be rotated from a stowedposition into a deployed configuration.

Certain exemplary embodiments of one or more online adaptive guidancealgorithms (described in detail below), which can be implemented via anISG control system comprising machine-implemented ISG controlinstructions, can utilize knowledge of the vehicle position, velocity,attitude, and/or capabilities to plan a descent trajectory that canplace the vehicle within the desired touchdown zone and/or region. TheISG control instructions for implementing the algorithms can be embeddedonboard the vehicle (e.g., within a memory device (such as a ROM chip)communicatively coupled to a special purpose processor and/or controllerthat is resident in an information device located in the ISG), and/orcan compute a reference trajectory in real-time. There need be norequirement for pre-planning the vehicle trajectory. The ISG controlinstructions can utilize sensor measurements to determine the currentvehicle position and/or velocity. Once the position is substantiallyknown relative to the desired and/or target water touchdown location,the ISG control instructions can compute bank and/or lateralacceleration commands to align the velocity heading vector with thatwater touchdown location. Once the vehicle and/or its velocity headingis substantially aligned with the target, the ISG control instructionscan issue normal acceleration commands to adjust the vehicle sink rateto accurately and/or appropriately impact the target. The ISG controlinstructions can continue to produce updated bank, lateral acceleration,and/or normal acceleration commands at a very rapid update rate. Thiscan allow the control system to adapt to vehicle performancecharacteristics and/or external environmental conditions, such as can becaused by uncertainties in the vehicle model, winds, turbulence,precipitation, icing, waves, water spray, smoke, geological formations,watercraft, and/or defensive mechanisms, etc. Certain exemplaryembodiments of the ISG control instructions can utilize variations inthe steepness of the descent glide-slope and/or additions of spirals toachieve the desired touchdown conditions. Certain exemplary methods ofthe ISG control instructions can minimize the descent time to achievetouchdown, allowing rapid deployment and/or minimizing risks to thevehicle while airborne. An exemplary algorithm architecture and/orsystem 7000 is presented in the block diagram of FIG. 7.

Certain exemplary embodiments of the ISG control instructions canproduce a continuously updated lateral acceleration or normalacceleration command to correct the vehicle orientation. This real-timeguidance command updating combined with precision inner-loop controltracking can lead to a robust algorithm that functions well inenvironments with high levels of uncertainties caused by winds,turbulence, precipitation, icing, waves, water spray, smoke, geologicalformations, watercraft, and/or defensive mechanisms, etc.

The ISG control instructions can take the current vehicle states and cancompute the necessary change in velocity heading angle and/or, vehicleflight path angle to arrive at the target (described below). Thesecomputed changes can be transformed by the ISG control instructions intoa bank and/or lateral acceleration command to achieve the velocityheading change command, and/or an angle-of-attack command, and/or normalacceleration command to achieve the desired vehicle flight path angle(described below). Any such command can be passed directly through tothe inner-loop control portion of the ISG control instructions.

The ISG guidance control logic, algorithms, and/or instructions can bedivided into a lateral tracking module and a longitudinal trackingmodule. The lateral tracking module can reduce the turn angle betweenthe vehicle velocity heading vector and the straight-line positionvector between the vehicle and the target projected onto, for example, aNorth-East plane. FIGS. 8A and 8B illustrates the lateral trackingconcept. As shown in FIG. 8A, a control law such as a dynamic inversioncontrol, can be used to generate the appropriate bank and/or lateralacceleration command to drive the turn angle, ε, to zero (describedbelow). The lateral acceleration and/or bank command can change thevelocity heading direction χ while the vehicle is moving in theNorth-East plane. As shown in FIG. 8B, with appropriate lateral steeringand/or banking eventually the direction of the velocity vector can alignwith the position vector of the vehicle relative to the target.

The control law can require computing a stable first-order error dynamicfor the turn angle error so that it will asymptotically approach zero asshown below:ε=θ+χe _(ε)=

−ε=−εė _(ε) −Ke _(ε)=−{dot over (θ)}−{dot over (χ)}  Equation Set 1

-   -   where:        -   ε=turn angle; the angle between the velocity heading            direction and the vehicle-target position vector direction        -   e_(ε)=turn angle error        -   θ=position angle; the angle of vehicle-target position            vector in the North-East plane        -   χ=velocity heading angle in North-East plane        -   ε_(c)=commanded turn angle (zero by definition)        -   K=positive control gain to create a stable error dynamic

The position angle rate, {dot over (θ)}, and the velocity heading anglerate, {dot over (χ)}, can be defined and substituted into the errordynamic definition from Equation Set 1 to determine an appropriate bankand/or lateral acceleration command. The resulting bank and/or lateralacceleration command can attenuate the turn angle error, χ, in order toalign the velocity heading with the target:

$\begin{matrix}{{\theta = {{\tan^{- 1}\left. \frac{N}{E}\Longrightarrow\overset{.}{\theta} \right.} = f_{\theta}}}{\overset{.}{\chi} = \frac{L\;{\sin(\mu)}g}{V\;\cos\;\gamma}}{\overset{.}{e_{ɛ}} = {{{- K}\; e_{ɛ}} = {{{- \overset{.}{\theta}} - \overset{.}{\chi}} = {{- f_{\theta}} - \frac{L\;{\sin(\mu)}g}{V\;\cos\;\gamma}}}}}{\mu = {\sin^{- 1}\left( {\frac{V\;\cos\;\gamma}{L\; g}\left( {{K\; ɛ} + f_{\theta}} \right)} \right)}}{\theta = {{\tan^{- 1}\left. \frac{N}{E}\Longrightarrow\overset{.}{\theta} \right.} = f_{\theta}}}{\overset{.}{\chi} = \frac{A_{y}g}{V\;\cos\;\gamma}}{{\overset{.}{e}}_{e} = {{{- K}\; e_{ɛ}} = {{{- \overset{.}{\theta}} - \overset{.}{\chi}} = {{- f_{\theta}} - \frac{A_{y}g}{V\;\cos\;\gamma}}}}}{A_{y} = {\frac{V\;\cos\;\gamma}{g}\left( {K_{ɛ} + f_{\theta}} \right)}}} & {{Equation}\mspace{14mu}{Set}\mspace{14mu} 2}\end{matrix}$

-   -   where:        -   L=vehicle lift magnitude        -   μ=vehicle bank angle        -   A_(y)=lateral acceleration        -   g=gravity        -   V=vehicle velocity magnitude        -   γ=vehicle flight path angle        -   N=North position error between vehicle and target        -   E=East position error between vehicle and target        -   f_(θ)=position angle rate, a function of North and East            position and rate errors

The ISG longitudinal guidance control logic, algorithms, and/orinstructions can operate in two phases. Phase 0 can persist while thevehicle is doing the initial banking and/or turning to align with thetarget. During this phase the vehicle sink rate command, which can berepresented by the velocity flight path angle, can correspond to thequasi-equilibrium glide solution (described below) for the vehicle. Thiscan be considered to be the optimal range flight path angle given thecurrent vehicle orientation. This can help to conserve energy during theinitial velocity heading alignment. Once the turn angle drops below aspecified threshold, such as approximately one degree, the vehicle cango into Phase 1, which can consist of maintaining the velocity headingalignment while adjusting the vehicle sink rate (flight path angle) tointersect the target. A graph showing an exemplary longitudinal controllogic is illustrated in FIG. 9.

The quasi-equilibrium glide solution can be considered to be theequilibrium point of the flight path and dynamic pressure stateequations as a function of the glide-scale, η, as shown below:{dot over (γ)}=f ₁(γ, q )≡0{dot over ( q =f ₂(γ, q )≡0  Equation Set 3

$\begin{matrix}{\gamma_{eq} \approx {{\tan^{- 1}\left( \frac{- 1}{{\eta\left( {C_{L}/C_{D}} \right)}^{*}\cos\;\mu} \right)}\mspace{20mu}{\overset{\_}{q}}_{eq}} \approx \frac{W_{S}\cos\;\gamma_{eq}}{{\eta C}_{L}^{*}\cos\;\mu}} & {{Equation}\mspace{14mu}{Set}\mspace{14mu} 4}\end{matrix}$

-   -   where:        -   γ=Flight path angle        -   q=Dynamic Pressure        -   μ=Bank angle        -   W_(S)=S/mg=Wing loading

(C_(L)/C_(D))^(*) = the value at maximumL/D.

It is apparent from Equation Set 4 that increasing η towards thenumerical value 1 brings the denominator closer to the maximum L/D valueleading to a shallow glide angle that can conserve range capacity.

During Phase 0 the flight path result from Equation group 4 can beevaluated for a glide scale of one. This equilibrium result can helpdetermine what the achievable flight path angle is for the vehicle. Ifthe vehicle is commanded to follow too shallow a flight path angle, dragcan build up and/or the dynamic pressure can rapidly fall below what isrequired to maintain the vehicle lift. The aircraft can drop rapidlyuntil a new equilibrium state is achieved. By tracking the flight pathangle command from Equation group 4 the vehicle can fly an appropriatetrajectory.

Once the vehicle and/or the velocity heading is approximately alignedwith the target, Phase I sink rate control can begin. This can beaccomplished by computing the required flight path angle to cover theremaining range given the current altitude. As long as the vehicle is ona straight line trajectory to the target with no winds or other imposingforces the flight path command can be:

$\begin{matrix}{\gamma_{cmd} = {{{- {\tan^{- 1}\left( {h/R} \right)}}\mspace{14mu} R} = \sqrt{N^{2} + E^{2}}}} & {{Equation}\mspace{14mu}{Set}\mspace{14mu} 5}\end{matrix}$

-   -   where:        -   γ_(cmd)=flight path angle command        -   h=current vehicle altitude        -   R=vehicle distance to target        -   N=North position error between vehicle and target        -   E=East position error between vehicle and target

Because Equation Set 5 can be updated in real-time, even if winds orother environmental conditions are present and force the vehicleoff-course, the continuous guidance corrections can attempt to bring thevehicle to the touchdown point, region, and/or zone accurately.

In Phase 0 and/or Phase I, a controller comprised by the ISG controlinstructions can be used to compute the appropriate angle-of-attackand/or normal acceleration command to drive the flight path angle to thecommanded value. That controller can begin by defining an error signalbetween the desired flight path angle and the current state value. Todrive this error signal to zero the derivative of the error can becomputed and/or forced to satisfy an exponential decay. Algebraicmanipulation then can lead to a formulation for the desired lift and/ornormal acceleration to achieve the commanded flight path angle. Thevehicle trim lift curve is interpolated to determine the angle-of-attackcorresponding to the desired lift, such as follows:

$\begin{matrix}{{e_{\gamma} = {\gamma_{cmd} - \gamma}}{{\overset{.}{e}}_{\gamma} = {{{\overset{.}{\gamma}}_{cmd} - \overset{.}{\gamma}} = {{- k_{\gamma}}e_{\gamma}}}}{{\overset{.}{\gamma}\underset{=}{\Delta}\frac{L\;{\cos(\mu)}}{m\; V}} - \frac{g\;\cos\;\gamma}{V}}{L = {\frac{mV}{\cos(\mu)}\left( {{\overset{.}{\gamma}}_{cmd} + {k_{\gamma}e_{\gamma}} + {g\;\cos\;\gamma}} \right)}}{\alpha_{cmd} = {{interpolate}\left( {L_{trim},\alpha_{trim},L} \right)}}{e_{\gamma} = {\gamma_{cmd} - \gamma}}{{\overset{.}{e}}_{\gamma} = {{{\overset{.}{\gamma}}_{cmd} - \overset{.}{\gamma}} = {{- k_{\gamma}}e_{\gamma}}}}{{\overset{.}{\gamma}\underset{=}{\Delta}\frac{A_{n}g}{V}} - \frac{g\;\cos\;\gamma}{V}}{{{\overset{.}{\gamma}}_{cmd} - {\frac{g}{V}\left( {A_{n} - {\cos\;\gamma}} \right)}} = {{- k_{\gamma}}e_{\gamma}}}{A_{n} = {{\cos\;\gamma} + {\frac{V}{g}\left( {{\overset{.}{\gamma}}_{cmd} + {k_{\gamma}e_{\gamma}}} \right)}}}} & {{Equation}\mspace{14mu}{Set}\mspace{14mu} 6}\end{matrix}$

where:

-   -   e_(γ)=flight path angle error    -   γ=vehicle flight path angle    -   γ_(cmd)=commanded flight path angle    -   k_(γ)=positive control gain to stabilize flight path tracking        error dynamic    -   L=vehicle lift magnitude    -   μ=vehicle bank angle    -   A_(n)=normal acceleration    -   g=gravity    -   V=vehicle velocity magnitude    -   α_(trim)=vector of trim angle-of-attack values    -   L_(trim)=vector of trim lift values corresponding to trim        angle-of-attack values    -   α_(cmd)=commanded angle-of-attack

The control logic in Equation Set 6 can provide rapid tracking of thecommanded flight path angle, potentially limited only by the vehiclepitch dynamics. As long as the velocity heading is approximately alignedwith the target, the flight path command in Equation Set 5 canaccurately command the vehicle to drive R→0 as altitude decreases tozero. Throughout the vehicle descent, the flight path command can beupdated to reflect the current position and/or altitude. The flight pathcommand can ultimately converge on a constant value as the vehicleachieves the appropriate range and/or altitude. The lateral accelerationguidance can maintain the velocity heading alignment with the desiredtouchdown point, region, and/or zone.

A vehicle command module comprised by the ISG control instructions canprovide a dynamic inversion controller to determine the appropriatepitch rate command, which can asymptotically track the angle of attackcommands from guidance. Similar to the prior dynamic inversionformulations, the desired tracking state can be forced to conform to astable error dynamic, such as follows:

$\begin{matrix}{{e_{\alpha} = {\alpha_{cmd} - \alpha}}{{\overset{.}{e}}_{\alpha} = {{- \overset{.}{\alpha}} = {{- k_{\alpha}}e_{\alpha}}}}{{\frac{1}{m\; V}\left( {{{- C_{L}}\overset{\_}{q\;}S} + {mg}_{3} + {m\; V\; Q}} \right)} = {{{- k_{\alpha}}e_{\alpha}g_{3}} = {\left( {{\sin\;{\alpha sin}\;\theta} + {\cos\;{\alpha cos\phi cos}\;\theta}} \right)}}}{Q^{*} = \frac{{{- m}\; V\; k_{\alpha}e_{\alpha}} + {C_{L}\overset{\_}{q}\; S} - {mg}_{3}}{m\; V}}} & {{Equation}\mspace{14mu}{Set}\mspace{14mu} 7}\end{matrix}$

The longitudinal and/or lateral acceleration commands can be sent to theinner-loop control module comprised by the ISG control instructions. Theinner-loop control module can use standard control logic to track thelongitudinal and/or acceleration commands already discussed.

Certain exemplary embodiments can provide an integration of the ISG withthe sonobuoy internal module's external housing. This can conserve spaceso that the ISG can deploy from within a standard SLC form factorcurrently used for sonobuoy launch. This integration can allow thesonobuoy internal module to be used without requiring designmodifications to reduce the size. This integration can allow a sonobuoyvehicle to be deployed using an SLC and aircraft and/or launch hardwarecurrently deployed in the fleet. With the ISG, the deploying aircraftcan have much greater flexibility in terms of the location from whichsonobuoys are deployed from the aircraft while achieving the same finaldelivery location, region, and/or zone. The ISG can be used withmultiple different current sonobuoy models.

Exemplary methods that utilize advanced guidance algorithms and/orinstructions can quickly achieve an equilibrium glide condition that canresult in the maximum range capability for the vehicle and/or therequired glide condition to reach the desired touchdown point, region,and/or zone. The previously described guidance logic, algorithms, and/orinstructions can achieve the glide condition from a variety of initiallaunch conditions, from vertical and/or horizontal and/or canted launchangles. Certain exemplary guidance strategies can utilize variations inthe equilibrium glide conditions to quickly achieve the desiredtouchdown conditions for targets points near and/or far from the launchaircraft. Certain exemplary energy management techniques can achievemaximum range and/or minimum time touchdown using glide slope modulationand/or spiral ground-track planning.

Certain exemplary embodiments can allow sonobuoys to be deployed fromexisting military aircraft without modification to those aircraft.Aircraft release conditions can be from any altitude and/or velocityand/or flight path angle, within the limits of the glide rangecapability of the ISG, and/or from any azimuth relative to the desiredtouchdown point.

Certain exemplary embodiments can be operable without the use of athrusted carrier vehicle and/or a parafoil delivery mechanism.

Certain exemplary embodiments can be rather minimally impacted byenvironmental conditions (e.g., wind and/or turbulence) and/or achieve arapid deployment.

In certain exemplary embodiments, airfoils on the wing and/or tailsurfaces can be changed. Modifications to the wing also can improverange. Wing geometry can be altered to have a longer span to providehigher aspect ratio and increase the maximum lift to drag ratio,increasing glide range. Wing geometry can be altered to have a shorterspan for more rapid descent maneuvers with less glide range. Tailsurfaces can be lengthened, shortened, and/or placed at different anglesto adjust the aerodynamic stability and/or control characteristics.

Certain exemplary embodiments can be used to deliver other types ofpayloads, including but not limited to: dropsondes used for atmosphericmeasurements. Certain exemplary embodiments can be used for precisiondelivery of medical supplies or ammunition in battlefield environments.

Certain exemplary embodiments can be deployed using the sameaircraft/deployment hardware as a standard sonobuoy. Certain exemplaryembodiments can carry the payload internally, rather than in the nose orunderneath the air vehicle. Certain exemplary embodiments can use arigid wing with high wing loading, which can provide much lowersensitivity to external disturbances. Certain exemplary embodiments canbe unpowered.

FIGS. 10 and 11 are side views of various components of, in the case ofFIG. 10, the original sonobuoy 10000 that can be replaced as describedherein by, in the case of FIG. 11, various components of modifiedsonobuoy vehicle 11000. Original housing 10100 can contain originaleternal shell 10200, which can be terminated by a blunt end cap 10250.At an opposite longitudinal end of original external shell 10200 can bean original parachute housing 10300, to which an original windflap 10400can attach. Modified external housing and/or glide harness 11100 canreplace original housing 10100. Modified external shell 11200 canreplace original external shell 10200. Aerodynamic hemispherical end cap11250 can replace original blunt end cap 10250. Modified parachutehousing 11300 can replace original parachute housing 10300. Modifiedwindflap 11400 can replace original windflap 10400. Attached to modifiedexternal shell 10200 can be a wing attachment 11500.

FIG. 12 is a perspective view of original parachute housing 10300 ofFIG. 10.

FIG. 13 is a perspective view of modified parachute housing 11300 ofFIG. 11.

FIGS. 14A-E are side views of an exemplary embodiment of a modifiedparachute housing.

FIG. 14A shows an exemplary embodiment of an inner section 14100 of anexemplary embodiment of the modified parachute housing 14000, the innersection adapted to hold a terminal parachute and/or stay attached to themetal shell until ejected after the buoy and/or payload enters the waterand/or a target region. Also shown is an exemplary embodiment of anouter section 14200 that is adapted to be attached to the inner sectionand/or to hold actuators 14300, tail surfaces, control hardware, and/ora stabilization parachute. In certain exemplary embodiments, the outersection can include one or more servomotors that are adapted to beattached to one or more deployable aerodynamic surfaces, such as one ormore tail control surfaces. In certain exemplary embodiments, the outersection can include one or more drive mechanisms for releasing thestabilization parachute and/or for ejecting the outer section from thevehicle in flight.

In certain exemplary embodiments, once the sonobuoy vehicle is launched,the stabilization parachute can be deployed and then released once thevehicle sink rate is above a threshold value, then the vehicle can glidetoward the target, and then the outer section of the modified parachutehousing can be ejected from the inner section in flight. The process ofejecting the outer section can deploy a terminal parachute that can bemounted in the inner section of the modified parachute housing.

FIG. 14B shows an exemplary embodiment of the modified parachute housing14000, where a servomotor 14400 is shown in a deployed position that isrotated out from the outer section by approximately 90 degrees.

FIG. 14C shows an exemplary embodiment of the modified parachute housing14000 in a stowed state and with a tail 14500 attached to a servomotor14400.

FIG. 14D shows an exemplary embodiment of the modified parachute housing14000 in a partially deployed state and a servomotor and a tail 14500unfolded from the housing.

FIG. 14E shows an exemplary embodiment of the modified parachute housing14000 in a fully deployed state and with the servomotor 14400 and tail14500 rotated into a flow direction of the sonobuoy vehicle, in whicheach servomotor can actively rotate its corresponding tail to controlthe sonobuoy vehicle.

FIGS. 15A-C are perspective views of an exemplary embodiment of amodified parachute housing 15000.

FIG. 15A shows two tail control surfaces 15200 folded along an outersurface of the metal shell 15100, such as when the sonobuoy vehicle isstowed inside a sonobuoy launch container.

FIG. 15B shows the two tail control surfaces 15200 unfolded and rotatedinto the airflow. Also shown is the internal section 15300, which canhold a terminal parachute and can be ejected when a float in theinternal module expands. The internal section 15300 of the modifiedparachute housing 15000 can resemble a shortened version of the internalsection of the original parachute housing, except the shortened versioncan operably attach to the outer section 15400.

FIG. 15C shows the two tail control surfaces 15200 unfolded and rotatedinto the airflow. Also shown is the outer section 15400 of the modifiedparachute housing 15000, which can hold a plurality of servomotors15500, each of which adapted to control one or more tail controlsurfaces 15200. Also held by the outer section 15400 can be guidancenavigation and/or control hardware 15600, which can be mounted on aprinted circuit board. The outer section 15400 of the modified parachutehousing 15000 can be separated from the inner section 15300 uponejection of the outer section 15400 using drive mechanisms mountedwithin the outer section 15400. The outer section 15400 can include anattachment point 15700 for the stabilization parachute.

FIGS. 16A-E are perspective views of an exemplary embodiment of asonobuoy deployment sequence 16000.

FIG. 16A shows an exemplary embodiment of a sonobuoy vehicle 16100 asstowed and deploying from a sonobuoy launch container 16200.

FIG. 16B shows an exemplary embodiment of a sonobuoy vehicle 16100 afterdeployment, with the stabilization parachute 16300 deployed and thetails 16400 unfolded from the body 16500.

FIG. 16C shows an exemplary embodiment of a sonobuoy vehicle 16100 afterejecting the stabilization parachute, rotating the tails 16400 into theairflow, deploying the main wing 16600, and while engaging in a glidingdescent.

FIG. 16D shows an exemplary embodiment of a sonobuoy vehicle 16100 afterthe outer section 16700 of the modified parachute housing and the mainwing 16600 have been ejected and upon initiation of deployment of theterminal parachute 16800.

FIG. 16E shows an exemplary embodiment of a sonobuoy vehicle 16100 withits terminal parachute 16800 fully deployed.

FIG. 17 is a block diagram of an exemplary embodiment of an informationdevice 17000, which in certain operative embodiments can be adapted toimplement any algorithm described herein. Information device 17000 cancomprise any of numerous transform circuits, which can be formed via anyof numerous communicatively-, electrically-, magnetically-, optically-,fluidically-, and/or mechanically-coupled physical components, such asfor example, one or more network interfaces 17100, one or moreprocessors 17200, one or more memories 17300 containing instructions17400, one or more input/output (I/O) devices 17500, and/or one or moreuser interfaces 17600 coupled to I/O device 17500, etc.

In certain exemplary embodiments, via one or more user interfaces 17600,such as a graphical user interface, a user can view a rendering ofinformation related to researching, designing, modeling, creating,developing, building, manufacturing, operating, maintaining, storing,marketing, selling, delivering, selecting, specifying, requesting,ordering, receiving, returning, rating, and/or recommending any of theproducts, services, methods, user interfaces, and/or informationdescribed herein.

FIG. 18 is a flowchart of an exemplary embodiment of a method 18000. Atactivity 18100, certain exemplary embodiments of a sonobuoy vehicle canbe readied for launch, such as by being installed in a sonobuoy launchcontainer. At activity 18200, the sonobuoy vehicle can be launched fromthe sonobuoy launch container. At activity 18300, the sonobuoy vehicle'swindflap can be ejected and/or its stabilization parachute can bedeployed. At activity 18400, the stabilization parachute can be ejectedand/or the aerodynamic control surfaces can be deployed. At activity18500, the sonobuoy vehicle can engage in a dynamically determined,substantially controlled, and substantially guided descent toward thetarget landing zone. At activity 18600, the aerodynamic control surfacescan be ejected and/or the terminal parachute deployed. At activity18700, the sonobuoy can reach the target landing zone. At activity18800, the terminal parachute can be ejected. At activity 18900, thesonobuoy's payload and/or sensors can be deployed.

Certain exemplary embodiments can provide a system, machine, device,manufacture, circuit, composition of matter, and/or user interfaceadapted for and/or resulting from, and/or a method and/ormachine-readable medium comprising machine-implementable instructionsfor, activities that can comprise and/or relate to:

-   -   a substantially cylindrical sonobuoy glide harness adapted to:        -   be operably connected to a substantially cylindrical            sonobuoy internal module to form a sonobuoy vehicle, the            sonobuoy vehicle adapted to launch from a sonobuoy launch            container that defines a sonobuoy launch container inner            diameter, the sonobuoy vehicle defining a sonobuoy vehicle            length and a sonobuoy vehicle outer diameter; and/or        -   operatively replace a substantially cylindrical external            housing that is operatively adapted to substantially            surround the sonobuoy internal module, the external housing            defining an external housing length and an external housing            outer diameter, the sonobuoy vehicle length not exceeding            the external housing length, the sonobuoy vehicle outer            diameter not exceeding the sonobuoy launch container inner            diameter;    -   the sonobuoy glide harness comprising:        -   a stabilization parachute adapted to provide stabilization            of the sonobuoy vehicle while the sonobuoy vehicle is in            flight;        -   a stabilization parachute ejection mechanism adapted to,            while the sonobuoy vehicle is in flight, release the            stabilization parachute from the sonobuoy vehicle;        -   a plurality of deployable aerodynamic control surfaces;        -   an actuation system operatively adapted to deploy the            plurality of deployable aerodynamic control surfaces during            and/or after launch of the sonobuoy vehicle from a flying            aircraft;        -   a guidance system operatively adapted to provide a            dynamically determined, substantially controlled, and            substantially guided descent of the sonobuoy vehicle from a            release altitude, latitude, and longitude located within a            predetermined release zone and toward a predetermined            sonobuoy water entry zone that is defined by a predetermined            range of water entry longitudes and a predetermined range of            water entry latitudes; and/or        -   an aerodynamic control surface ejection mechanism adapted to            substantially simultaneously release the aerodynamic control            surfaces from the sonobuoy vehicle, simultaneously deploying            a terminal parachute;    -   wherein any of the following can be true:        -   the sonobuoy launch container is adapted to substantially            fit within a launch tube of the flying aircraft;        -   the sonobuoy vehicle lacks an onboard source of thrust;        -   the actuation system is operatively adapted to utilize an            aerodynamic force on the sonobuoy vehicle to deploy at least            one deployable aerodynamic control surface from the            plurality of deployable aerodynamic control surfaces;        -   the plurality of deployable aerodynamic control surfaces            comprises a main wing that, upon deployment, is adapted to            be moved from a stowed orientation that is substantially            parallel to a direction of travel of the sonobuoy vehicle to            a deployed orientation that is substantially perpendicular            to the direction of travel of the sonobuoy vehicle;        -   the plurality of deployable aerodynamic control surfaces            comprises a main wing and one or more tail surfaces adapted            to be removed at the end of the guided descent and prior to            touchdown;        -   the plurality of deployable aerodynamic control surfaces            comprises one or more tail control surfaces that, upon            deployment from a rear of the sonobuoy glide harness, are            each adapted to be moved from a stowed orientation that is            substantially parallel to a direction of travel of the            sonobuoy vehicle to a respective deployed orientation that            is substantially perpendicular to the direction of travel of            the sonobuoy vehicle;        -   the plurality of deployable aerodynamic control surfaces            comprises a main wing and one or more tail control surfaces            adapted to lock into a deployed state;        -   the plurality of deployable aerodynamic control surfaces            comprises one or more tail control surfaces that are            attached to an actuator device and adapted to, after            deploying out substantially perpendicular to a direction of            travel of the sonobuoy vehicle, rotate into the direction of            travel and be operatively controlled by the actuation            device;        -   the guidance system comprises an information device located            in the sonobuoy glide harness;        -   the guidance system is adapted to operatively adapt a flight            path of the sonobuoy vehicle responsive to an altitude,            velocity, azimuth, and/or flight path angle of the flying            aircraft;        -   the guidance system is adapted to produce a continuously            updated plurality of longitudinal control commands and            lateral control commands, each command adapted to correct an            orientation of the sonobuoy vehicle for line-of-sight            guidance to the predefined water entry zone while tracking            an equilibrium glide condition;        -   the guidance system is operatively adapted to utilize            multi-phase longitudinal control to provide sink rate            control, an optimal flight path angle for a given current            bank angle and/or orientation of the sonobuoy vehicle,            and/or an equilibrium glide condition;        -   the guidance system is operatively adapted to provide roll            angle instructions and/or lateral acceleration instructions            to align a velocity heading and/or vector of the sonobuoy            vehicle with the water entry zone;        -   the guidance system is operatively adapted to provide normal            acceleration instructions to adjust a sink rate of the            sonobuoy vehicle;        -   the guidance system is operatively adapted to utilize            variations in a steepness of a descent path to land the            sonobuoy internal module or sonobuoy vehicle in the            predetermined sonobuoy water entry zone;        -   the guidance system is operatively adapted to automatically            determine an altitude at which to cause the main wing and            one or more tail control surfaces to be separated from the            sonobuoy vehicle and the terminal parachute to be deployed;        -   the guidance system is operatively adapted to minimize an            error between a point within the predetermined water entry            zone and an actual landing point of the sonobuoy internal            module;        -   the guidance system is operatively adapted to minimize a            descent time to achieve touchdown of the sonobuoy internal            module;        -   the guidance system is operatively adapted to maximize an            operative range of the sonobuoy vehicle; and/or        -   the guidance system is operatively adapted to adaptively            respond to sonobuoy vehicle performance characteristics            and/or environmental conditions that would otherwise prevent            the sonobuoy internal module from landing in the            predetermined water entry zone.

DEFINITIONS

When the following phrases are used substantively herein, theaccompanying definitions apply. These phrases and definitions arepresented without prejudice, and, consistent with the application, theright to redefine these phrases via amendment during the prosecution ofthis application or any application claiming priority hereto isreserved. For the purpose of interpreting a claim of any patent thatclaims priority hereto, each definition in that patent functions as aclear and unambiguous disavowal of the subject matter outside of thatdefinition.

-   -   a—at least one.    -   acceleration—a time rate of change in the linear and/or angular        speed and/or velocity, and/or the frequency, of an entity.    -   achieve—to attain with effort.    -   activity—an action, act, step, and/or process or portion        thereof.    -   actual—real, realized, and/or existing; not merely potential or        possible;    -   based in reality; and/or measurable.    -   actuate—to physically move a device and/or system.    -   actuator—a device that converts, translates, and/or interprets        signals (e.g., electrical, optical, hydraulic, pneumatic, etc.)        to cause a physical and/or humanly perceptible action and/or        output, such as a motion (e.g., rotation of a motor shaft,        vibration, position of a valve, position of a solenoid, position        of a switch, and/or position of a relay, etc.), audible sound        (e.g., horn, bell, and/or alarm, etc.), and/or visible rendering        (e.g., indicator light, non-numerical display, and/or numerical        display, etc.).    -   adapted to—suitable, fit, and/or capable of performing a        specified function.    -   adapter—a device used to effect operative compatibility between        different parts of one or more pieces of an apparatus or system.    -   adaptively—performing differently at different times.    -   adjust—to change so as to match, fit, adapt, conform, and/or be        in a more effective state.    -   aerodynamic—designed to reduce and/or minimize the drag caused        by air as an object moves though it and/or by wind that strikes        and/or flows around an object.    -   after—following in time and/or subsequent to.    -   aircraft—a machine or device, such as an airplane, helicopter,        glider, or dirigible, that is capable of atmospheric flight.    -   align—to adjust substantially into a proper orientation and        location with respect to another thing.    -   altitude—an elevation and/or height of a thing above a reference        level, especially above sea level and/or above the earth's        surface.    -   and/or—either in conjunction with or in alternative to.    -   angle—an amount of rotation that separates two intersecting        lines and/or rays.    -   apparatus—an appliance or device for a particular purpose    -   associate—to join, connect together, and/or relate.    -   at least—not less than, and possibly more than.    -   attached—joined and/or secured together.    -   automatic—performed via an information device in a manner        essentially independent of influence and/or control by a user.        For example, an automatic light switch can turn on upon “seeing”        a person in its “view”, without the person manually operating        the light switch.    -   automatically—acting and/or operating in a manner essentially        independent of external human influence and/or control. For        example, an automatic light switch can turn on upon “seeing” a        person in its view, without the person manually operating the        light switch.    -   azimuth—the horizontal angular distance from a reference        direction, usually the northern point of the horizon, to the        point where a vertical circle through a celestial body        intersects the horizon, usually measured clockwise.    -   bank—the lateral inward tilting, as of a motor vehicle or an        aircraft, in turning or negotiating a curve.    -   be—to exist in actuality.    -   between—in a separating interval and/or intermediate to.    -   Boolean logic—a complete system for logical operations.    -   by—via and/or with the use or help of.    -   can—is capable of, in at least some embodiments.    -   cause—to bring about, provoke, precipitate, produce, elicit, be        the reason for, result in, and/or effect.    -   characteristic—a prominent attribute or aspect of something.    -   circuit—a physical system comprising, depending on context: an        electrically conductive pathway, an information transmission        mechanism, and/or a communications connection, the pathway,        mechanism, and/or connection established via a switching device        (such as a switch, relay, transistor, and/or logic gate, etc.);        and/or an electrically conductive pathway, an information        transmission mechanism, and/or a communications connection, the        pathway, mechanism, and/or connection established across two or        more switching devices comprised by a network and between        corresponding end systems connected to, but not comprised by the        network.    -   command—(n.) a signal that initiates an activity.    -   comprising—including but not limited to.    -   condition—a state at a particular time.    -   configure—to make suitable or fit for a specific use or        situation.    -   connect—to join and/or fasten together.    -   connected—physically and/or logically linked.    -   containing—including but not limited to.    -   continuously—in a manner uninterrupted in time, sequence,        substance, and/or extent.    -   control—(n) a mechanical or electronic device used to operate a        machine within predetermined limits; (v) to exercise        authoritative and/or dominating influence over, cause to act in        a predetermined manner, direct, adjust to a requirement, and/or        regulate.    -   convert—to transform, adapt, and/or change.    -   coupleable—capable of being joined, connected, and/or linked        together.    -   coupling—linking in some fashion.    -   create—to bring into being.    -   cylindrical—of, relating to, and/or having the shape of a        cylinder, especially of a circular cylinder.    -   data—distinct pieces of information, usually formatted in a        special or predetermined way and/or organized to express        concepts, and/or represented in a form suitable for processing        by an information device.    -   data structure—an organization of a collection of data that        allows the data to be manipulated effectively and/or a logical        relationship among data elements that is designed to support        specific data manipulation functions. A data structure can        comprise meta data to describe the properties of the data        structure. Examples of data structures can include: array,        dictionary, graph, hash, heap, linked list, matrix, object,        queue, ring, stack, tree, and/or vector.    -   define—to establish the meaning, relationship, outline, form,        and/or structure of; and/or to precisely and/or distinctly        describe and/or specify.    -   deploy—to put into use and/or action.    -   descend—to move from a higher to a lower place.    -   descent—the act or an instance of descending.    -   determine—to find out, obtain, calculate, decide, deduce,        ascertain, and/or come to a decision, typically by        investigation, reasoning, and/or calculation.    -   device—a machine, manufacture, and/or collection thereof    -   diameter—a length of a straight line segment passing through a        center of an object and terminating at the periphery thereof    -   digital—non-analog and/or discrete.    -   direction—a spatial relation between something and a course        along which it points and/or moves; a distance independent        relationship between two points in space that specifies the        position of either with respect to the other; and/or a        relationship by which the alignment and/or orientation of any        position with respect to any other position is established.    -   direction of travel—a distance-independent angular measure of        transverse motion of an object relative to a point of reference.    -   during—at some time in a time interval.    -   dynamically—on demand, as necessary, and/or in an interactive        manner wherein a current state is dependent on a past and/or        future input and/or output.    -   each—every one of a group considered individually.    -   eject—to expel.    -   entry—the act and/or an instance of entering, ingress, and/or        incursion.    -   environmental condition—an external circumstance and/or        surrounding, such as wind, wind shear, jet stream, convection        current, turbulence, storms, lightning, icing conditions,        precipitation, humidity, barometric pressure, smoke, smog, dust,        air pollution, and/or temperature inversion, etc.    -   equilibrium—a condition in which all acting influences are        substantially canceled by others, resulting in a substantially        stable, balanced, and/or unchanging system.    -   error—an unintended and/or unacceptable result of an action        and/or procedure.    -   estimate—(n) a calculated value approximating an actual        value; (v) to calculate and/or determine approximately and/or        tentatively.    -   exceeding—greater than.    -   external—exterior and/or relating to, existing on, and/or        connected with the outside and/or or an outer part.    -   fit—adapted to be of the right size and/or shape for; adapted to        conform to a shape of    -   flight—the motion of an object in and/or through a medium,        especially through the earth's atmosphere and/or through space.    -   flying—to engage in flight.    -   from—used to indicate a source, origin, and/or location thereof    -   generate—to create, produce, give rise to, and/or bring into        existence.    -   given—specified and/or fixed.    -   glide harness—a device adapted to be operably mounted to a        sonobuoy and/or adaptively guiding the sonobuoy toward a target        landing zone.    -   guide—to direct, steer, and/or exert control and/or influence        over.    -   haptic—involving the human sense of kinesthetic movement and/or        the human sense of touch. Among the many potential haptic        experiences are numerous sensations, body-positional differences        in sensations, and time-based changes in sensations that are        perceived at least partially in non-visual, non-audible, and        non-olfactory manners, including the experiences of tactile        touch (being touched), active touch, grasping, pressure,        friction, traction, slip, stretch, force, torque, impact,        puncture, vibration, motion, acceleration, jerk, pulse,        orientation, limb position, gravity, texture, gap, recess,        viscosity, pain, itch, moisture, temperature, thermal        conductivity, and thermal capacity.    -   having—including but not limited to.    -   housing—something that covers, encloses, protects, holds, and/or        supports, such as a frame, box, and/or chassis.    -   human-machine interface—hardware and/or software adapted to        render information to a user and/or receive information from the        user; and/or a user interface.    -   including—including but not limited to.    -   information device—any device capable of processing data and/or        information, such as any general purpose and/or special purpose        computer, such as a personal computer, workstation, server,        minicomputer, mainframe, supercomputer, computer terminal,        laptop, tablet computer (such as an iPad-like device), wearable        computer, Personal Digital Assistant (PDA), mobile terminal,        Bluetooth device, communicator, “smart” phone (such as an        iPhone-like device), messaging service (e.g., Blackberry)        receiver, pager, facsimile, cellular telephone, traditional        telephone, telephonic device, embedded controller, programmed        microprocessor or microcontroller and/or peripheral integrated        circuit elements, ASIC or other integrated circuit, hardware        electronic logic circuit such as a discrete element circuit,        and/or programmable logic device such as a PLD, PLA, FPGA, or        PAL, or the like, etc. In general, any device on which resides a        finite state machine capable of implementing at least a portion        of a method, structure, and/or or graphical user interface        described herein may be used as an information device. An        information device can comprise components such as one or more        network interfaces, one or more processors, one or more memories        containing instructions, and/or one or more input/output (I/O)        devices, one or more user interfaces coupled to an I/O device,        etc. In information device can be a component of and/or augment        another device, such as an appliance, machine, tool, robot,        vehicle, television, printer, “smart” utility meter, etc.    -   initialize—to prepare something for use and/or some future        event.    -   inner—closer than another to the center and/or middle.    -   input/output (I/O) device—any device adapted to provide input        to, and/or receive output from, an information device. Examples        can include an audio, visual, haptic, olfactory, and/or        taste-oriented device, including, for example, a monitor,        display, projector, overhead display, keyboard, keypad, mouse,        trackball, joystick, gamepad, wheel, touchpad, touch panel,        pointing device, microphone, speaker, video camera, camera,        scanner, printer, switch, relay, haptic device, vibrator,        tactile simulator, and/or tactile pad, potentially including a        port to which an I/O device can be attached or connected.    -   install—to connect or set in position and prepare for use.    -   instructions—directions, which can be implemented as hardware,        firmware, and/or software, the directions adapted to perform a        particular operation and/or function via creation and/or        maintenance of a predetermined physical circuit.    -   internal module—a sonobuoy.    -   into—to a condition, state, or form of.    -   lack—a particular deficiency or absence.    -   land—to set (a vehicle, animal, and/or object) down on land        and/or another surface, such as water.    -   landing—the act or process of coming to land or rest, especially        after a voyage and/or flight.    -   lateral—of or relating to the side or sides.    -   latitude—the angular distance north or south of the earth's        equator, typically measured in degrees along a meridian, as on a        map or globe.    -   launch—to set or thrust in motion.    -   length—a longest dimension of something and/or the measurement        of the extent of something along its greatest dimension.    -   line-of-sight—a straight line along which an observer looks        and/or a beam of radiation travels.    -   located—situated in a particular spot, region, and/or position.    -   lock—(n) a device and/or system adapted to fix in place, hold,        entangle, and/or interlock securely. (v) to fix in place, hold,        entangle, and/or interlock securely.    -   logic gate—a physical device adapted to perform a logical        operation on one or more logic inputs and to produce a single        logic output, which is manifested physically. Because the output        is also a logic-level value, an output of one logic gate can        connect to the input of one or more other logic gates, and via        such combinations, complex operations can be performed. The        logic normally performed is Boolean logic and is most commonly        found in digital circuits. The most common implementations of        logic gates are based on electronics using resistors,        transistors, and/or diodes, and such implementations often        appear in large arrays in the form of integrated circuits        (a.k.a., IC's, microcircuits, microchips, silicon chips, and/or        chips). It is possible, however, to create logic gates that        operate based on vacuum tubes, electromagnetics (e.g., relays),        mechanics (e.g., gears), fluidics, optics, chemical reactions,        and/or DNA, including on a molecular scale. Each        electronically-implemented logic gate typically has two inputs        and one output, each having a logic level or state typically        physically represented by a voltage. At any given moment, every        terminal is in one of the two binary logic states (“false”        (a.k.a., “low” or “0”) or “true” (a.k.a., “high” or “1”),        represented by different voltage levels, yet the logic state of        a terminal can, and generally does, change often, as the circuit        processes data. Thus, each electronic logic gate typically        requires power so that it can source and/or sink currents to        achieve the correct output voltage. Typically,        machine-implementable instructions are ultimately encoded into        binary values of “0”s and/or “1”s and, are typically written        into and/or onto a memory device, such as a “register”, which        records the binary value as a change in a physical property of        the memory device, such as a change in voltage, current, charge,        phase, pressure, weight, height, tension, level, gap, position,        velocity, momentum, force, temperature, polarity, magnetic        field, magnetic force, magnetic orientation, reflectivity,        molecular linkage, molecular weight, etc. An exemplary register        might store a value of “01101100”, which encodes a total of 8        “bits” (one byte), where each value of either “0” or “1” is        called a “bit” (and 8 bits are collectively called a “byte”).        Note that because a binary bit can only have one of two        different values (either “0” or “1”), any physical medium        capable of switching between two saturated states can be used to        represent a bit. Therefore, any physical system capable of        representing binary bits is able to represent numerical        quantities, and potentially can manipulate those numbers via        particular encoded machine-implementable instructions. This is        one of the basic concepts underlying digital computing. At the        register and/or gate level, a computer does not treat these “0”s        and “1”s as numbers per se, but typically as voltage levels (in        the case of an electronically-implemented computer), for        example, a high voltage of approximately +3 volts might        represent a “1” or “logical true” and a low voltage of        approximately 0 volts might represent a “0” or “logical false”        (or vice versa, depending on how the circuitry is designed).        These high and low voltages (or other physical properties,        depending on the nature of the implementation) are typically fed        into a series of logic gates, which in turn, through the correct        logic design, produce the physical and logical results specified        by the particular encoded machine-implementable instructions.        For example, if the encoding request a calculation, the logic        gates might add the first two bits of the encoding together,        produce a result “1” (“0”+“1”=“1”), and then write this result        into another register for subsequent retrieval and reading. Or,        if the encoding is a request for some kind of service, the logic        gates might in turn access or write into some other registers        which would in turn trigger other logic gates to initiate the        requested service.    -   logical—a conceptual representation.    -   longitude—the angular distance on the earth's surface, measured        east or west from the prime meridian at Greenwich, England, to        the meridian passing through a position, expressed in degrees        (or hours), minutes, and seconds.    -   longitudinal—of and/or relating to a longitude.    -   machine-implementable instructions—directions adapted to cause a        machine, such as an information device, to perform one or more        particular activities, operations, and/or functions via forming        a particular physical circuit. The directions, which can        sometimes form an entity called a “processor”, “kernel”,        “operating system”, “program”, “application”, “utility”,        “subroutine”, “script”, “macro”, “file”, “project”, “module”,        “library”, “class”, and/or “object”, etc., can be embodied        and/or encoded as machine code, source code, object code,        compiled code, assembled code, interpretable code, and/or        executable code, etc., in hardware, firmware, and/or software.    -   machine-readable medium—a physical structure from which a        machine, such as an information device, computer,        microprocessor, and/or controller, etc., can store and/or obtain        one or more machine-implementable instructions, data, and/or        information. Examples include a memory device, punch card,        player-piano scroll, etc.    -   main—primary.    -   maximize—to obtain a highest possible value of one or more        variable quantities.    -   may—is allowed and/or permitted to, in at least some        embodiments.    -   mechanism—a system, device, and/or portion thereof.    -   memory device—an apparatus capable of storing, sometimes        permanently, machine-implementable instructions, data, and/or        information, in analog and/or digital format. Examples include        at least one non-volatile memory, volatile memory, register,        relay, switch, Random Access Memory, RAM, Read Only Memory, ROM,        flash memory, magnetic media, hard disk, floppy disk, magnetic        tape, optical media, optical disk, compact disk, CD, digital        versatile disk, DVD, and/or raid array, etc. The memory device        can be coupled to a processor and/or can store and provide        instructions adapted to be executed by processor, such as        according to an embodiment disclosed herein.    -   method—one or more acts that are performed upon subject matter        to be transformed to a different state or thing and/or are tied        to a particular apparatus, said one or more acts not a        fundamental principal and not pre-empting all uses of a        fundamental principal.    -   minimize—to attempt to reduce in magnitude.    -   more—greater in size, amount, extent, and/or degree.    -   move—to change a position and/or place.    -   multi-phase—pertaining to distinct stages of a descent sequence.    -   network—a communicatively coupled plurality of nodes,        communication devices, and/or information devices. Via a        network, such nodes and/or devices can be linked, such as via        various wireline and/or wireless media, such as cables,        telephone lines, power lines, optical fibers, radio waves,        and/or light beams, etc., to share resources (such as printers        and/or memory devices), exchange files, and/or allow electronic        communications therebetween. A network can be and/or can utilize        any of a wide variety of sub-networks and/or protocols, such as        a circuit switched, public-switched, packet switched,        connection-less, wireless, virtual, radio, data, telephone,        twisted pair, POTS, non-POTS, DSL, cellular, telecommunications,        video distribution, cable, radio, terrestrial, microwave,        broadcast, satellite, broadband, corporate, global, national,        regional, wide area, backbone, packet-switched TCP/IP, IEEE        802.03, Ethernet, Fast Ethernet, Token Ring, local area, wide        area, IP, public Internet, intranet, private, ATM, Ultra Wide        Band (UWB), Wi-Fi, BlueTooth, Airport, IEEE 802.11, IEEE        802.11a, IEEE 802.11b, IEEE 802.11g, X-10, electrical power, 3G,        4G, multi-domain, and/or multi-zone sub-network and/or protocol,        one or more Internet service providers, one or more network        interfaces, and/or one or more information devices, such as a        switch, router, and/or gateway not directly connected to a local        area network, etc., and/or any equivalents thereof.    -   network interface—any physical and/or logical device, system,        and/or process capable of coupling an information device to a        network. Exemplary network interfaces comprise a telephone,        cellular phone, cellular modem, telephone data modem, fax modem,        wireless transceiver, communications port, Ethernet card, cable        modem, digital subscriber line interface, bridge, hub, router,        or other similar device, software to manage such a device,        and/or software to provide a function of such a device.    -   normal—substantially perpendicular to a defined line and/or        plane.    -   not—a negation of something.    -   onboard—connected and/or integral.    -   one—being or amounting to a single unit, individual, and/or        entire thing, item, and/or object.    -   operable—able to be normally operated.    -   operative—being in effect; operating.    -   operatively—in a manner able to function and/or to work.    -   optimal—optimum and/or most favorable and/or desirable.    -   orientation—a position and/or location relative to something        else.    -   otherwise—under other circumstances.    -   outer—farther than another from the center and/or middle.    -   packet—a generic term for a bundle of data organized in a        specific way for transmission, such as within and/or across a        network, such as a digital packet-switching network, and        comprising the data to be transmitted and certain control        information, such as a destination address.    -   parachute—any of various similar unpowered devices that are used        for retarding free-speeding or free-falling motion.    -   parallel—being an equal distance apart everywhere.    -   path—a route along which something moves.    -   perceptible—capable of being perceived by the human senses.    -   performance—operation, the act of performing, and/or the act of        doing something successfully.    -   perpendicular—intersecting at or forming substantially right        angles;    -   and/or substantially at a right angle with respect to an axis.    -   physical—tangible, real, and/or actual.    -   physically—existing, happening, occurring, acting, and/or        operating in a manner that is tangible, real, and/or actual.    -   plurality—the state of being plural and/or more than one.    -   point—(n.) a defined physical and/or logical location in at        least a two-dimensional system and/or an element in a        geometrically described set and/or a measurement or        representation of a measurement having a time coordinate and a        non-time coordinate. (v.) to indicate a position and/or        direction of    -   predefined—established, specified, and/or determined in advance.    -   predetermined—established in advance.    -   prevent—to impede, resist, hinder, stop, and/or keep from        happening.    -   prior to—before.    -   probability—a quantitative representation of a likelihood of an        occurrence.    -   processor—a machine that utilizes hardware, firmware, and/or        software and is physically adaptable to perform, via Boolean        logic operating on a plurality of logic gates that form        particular physical circuits, a specific task defined by a set        of machine-implementable instructions. A processor can utilize        mechanical, pneumatic, hydraulic, electrical, magnetic, optical,        informational, chemical, and/or biological principles,        mechanisms, adaptations, signals, inputs, and/or outputs to        perform the task(s). In certain embodiments, a processor can act        upon information by manipulating, analyzing, modifying, and/or        converting it, transmitting the information for use by        machine-implementable instructions and/or an information device,        and/or routing the information to an output device. A processor        can function as a central processing unit, local controller,        remote controller, parallel controller, and/or distributed        controller, etc. Unless stated otherwise, the processor can be a        general-purpose device, such as a microcontroller and/or a        microprocessor, such the Pentium family of microprocessor        manufactured by the Intel Corporation of Santa Clara, Calif. In        certain embodiments, the processor can be dedicated purpose        device, such as an Application Specific Integrated Circuit        (ASIC) or a Field Programmable Gate Array (FPGA) that has been        designed to implement in its hardware and/or firmware at least a        part of an embodiment disclosed herein. A processor can reside        on and use the capabilities of a controller.    -   produce—to generate, create, and/or make via a physical effort.    -   project—to calculate, estimate, or predict.    -   provide—to furnish, supply, give, and/or make available.    -   range—a measure of an extent of a set of values and/or an amount        and/or extent of variation.    -   rear—the point and/or area farthest from the front.    -   receive—to get as a signal, take, acquire, and/or obtain.    -   recommend—to suggest, praise, commend, and/or endorse.    -   release—to let go and/or free from something that restrains,        binds, fastens, and/or holds back.    -   remove—to eliminate, remove, and/or delete, and/or to move from        a place or position occupied.    -   render—to, e.g., physically, chemically, biologically,        electronically, electrically, magnetically, optically,        acoustically, fluidically, and/or mechanically, etc., transform        information into a form perceptible to a human as, for example,        data, commands, text, graphics, audio, video, animation, and/or        hyperlinks, etc., such as via a visual, audio, and/or haptic,        etc., means and/or depiction, such as via a display, monitor,        electric paper, ocular implant, cochlear implant, speaker,        vibrator, shaker, force-feedback device, stylus, joystick,        steering wheel, glove, blower, heater, cooler, pin array,        tactile touchscreen, etc.    -   repeatedly—again and again; repetitively.    -   replace—to provide a substitute and/or equivalent in the place        of.    -   request—to express a desire for and/or ask for.    -   respective—relating to two or more persons or things regarded        individually.    -   respond—to reply.    -   responsive—reacting to an influence and/or impetus.    -   roll—to turn around and/or revolve on and/or as if on an axis.    -   rotate—to turn around an axis and/or center.    -   select—to make a choice or selection from alternatives.    -   separated—not touching and/or spaced apart by something.    -   server—an information device and/or a process running thereon,        that is adapted to be communicatively coupled to a network and        that is adapted to provide at least one service for at least one        client, i.e., for at least one other information device        communicatively coupled to the network and/or for at least one        process running on another information device communicatively        coupled to the network. One example is a file server, which has        a local drive and services requests from remote clients to read,        write, and/or manage files on that drive. Another example is an        e-mail server, which provides at least one program that accepts,        temporarily stores, relays, and/or delivers e-mail messages.        Still another example is a database server, which processes        database queries. Yet another example is a device server, which        provides networked and/or programmable: access to, and/or        monitoring, management, and/or control of, shared physical        resources and/or devices, such as information devices, printers,        modems, scanners, projectors, displays, lights, cameras,        security equipment, proximity readers, card readers, kiosks,        POS/retail equipment, phone systems, residential equipment, HVAC        equipment, medical equipment, laboratory equipment, industrial        equipment, machine tools, pumps, fans, motor drives, scales,        programmable logic controllers, sensors, data collectors,        actuators, alarms, annunciators, and/or input/output devices,        etc.    -   set—a related plurality.    -   signal—(v) to communicate; (n) one or more automatically        detectable variations in a physical variable, such as a        pneumatic, hydraulic, acoustic, fluidic, mechanical, electrical,        magnetic, optical, chemical, and/or biological variable, such as        power, energy, pressure, flowrate, viscosity, density, torque,        impact, force, frequency, phase, voltage, current, resistance,        magnetomotive force, magnetic field intensity, magnetic field        flux, magnetic flux density, reluctance, permeability, index of        refraction, optical wavelength, polarization, reflectance,        transmittance, phase shift, concentration, and/or temperature,        etc., that can encode information, such as machine-implementable        instructions for activities and/or one or more letters, words,        characters, symbols, signal flags, visual displays, and/or        special sounds, etc., having prearranged meaning Depending on        the context, a signal and/or the information encoded therein can        be synchronous, asynchronous, hard real-time, soft real-time,        non-real time, continuously generated, continuously varying,        analog, discretely generated, discretely varying, quantized,        digital, broadcast, multicast, unicast, transmitted, conveyed,        received, continuously measured, discretely measured, processed,        encoded, encrypted, multiplexed, modulated, spread, de-spread,        demodulated, detected, de-multiplexed, decrypted, and/or        decoded, etc.    -   simultaneously—happening, existing, or done at substantially the        same time.    -   sink—descent.    -   sonobuoy—a buoy equipped with an acoustic receiver and a radio        transmitter that emits radio signals when it detects underwater        sounds.    -   sonobuoy launch container—an enclosure operatively adapted for a        launching a sonobuoy vehicle from an aircraft in flight.    -   sonobuoy vehicle—a sonobuoy operatively attached to a transport        for the sonobuoy.    -   source—a point at which something originates, springs into        being, and/or from which it derives and/or is obtained.    -   special purpose computer—a computer and/or information device        comprising a processor device having a plurality of logic gates,        whereby at least a portion of those logic gates, via        implementation of specific machine-implementable instructions by        the processor, experience a change in at least one physical and        measurable property, such as a voltage, current, charge, phase,        pressure, weight, height, tension, level, gap, position,        velocity, momentum, force, temperature, polarity, magnetic        field, magnetic force, magnetic orientation, reflectivity,        molecular linkage, molecular weight, etc., thereby directly        tying the specific machine-implementable instructions to the        logic gate's specific configuration and property(ies). In the        context of an electronic computer, each such change in the logic        gates creates a specific electrical circuit, thereby directly        tying the specific machine-implementable instructions to that        specific electrical circuit.    -   special purpose processor—a processor device, having a plurality        of logic gates, whereby at least a portion of those logic gates,        via implementation of specific machine-implementable        instructions by the processor, experience a change in at least        one physical and measurable property, such as a voltage,        current, charge, phase, pressure, weight, height, tension,        level, gap, position, velocity, momentum, force, temperature,        polarity, magnetic field, magnetic force, magnetic orientation,        reflectivity, molecular linkage, molecular weight, etc., thereby        directly tying the specific machine-implementable instructions        to the logic gate's specific configuration and property(ies). In        the context of an electronic computer, each such change in the        logic gates creates a specific electrical circuit, thereby        directly tying the specific machine-implementable instructions        to that specific electrical circuit.    -   stabilization—the maintenance of a desired condition or state of        a thing for which a condition or state may be subject to change.    -   state—a qualitative and/or quantitative description of        condition.    -   steepness—a measure of inclination.    -   store—to place, hold, and/or retain data, typically in a memory.    -   stow—to place and/or arrange, especially in a neat, compact way.    -   substantially—to a great extent and/or degree.    -   support—to bear the weight of, especially from below.    -   surface—the outer boundary of an object and/or a material layer        constituting and/or resembling such a boundary.    -   surround—to encircle, enclose, and/or confine on several and/or        all sides.    -   switch—(v) to: form, open, and/or close one or more circuits;        form, complete, and/or break an electrical and/or informational        path; select a path and/or circuit from a plurality of available        paths and/or circuits; and/or establish a connection between        disparate transmission path segments in a network (or between        networks); (n) a physical device, such as a mechanical,        electrical, and/or electronic device, that is adapted to switch.    -   system—a collection of mechanisms, devices, machines, articles        of manufacture, processes, data, and/or instructions, the        collection designed to perform one or more specific functions.    -   tail—an appendage to the rear or bottom of a thing.    -   target—a destination.    -   terminal—of, at, relating to, or forming a limit, boundary,        extremity, or end.    -   that—a pronoun used to indicate a thing as indicated, mentioned        before, present, and/or well known.    -   thrust—to push and/or drive quickly and/or forcibly.    -   time—a measurement of a point in a nonspatial continuum in which        events occur in apparently irreversible succession from the past        through the present to the future.    -   touchdown—the act of coming down to the earth (and/or other        surface, such as a body of water).    -   toward—used to indicate a destination and/or in a physical        and/or logical direction of    -   track—to observe, monitor, follow the course of, and/or        maintain.    -   transform—to change in measurable: form, appearance, nature,        and/or character.    -   transmit—to send as a signal, provide, furnish, and/or supply.    -   tube—an elongate member having a longitudinal axis and defining        a longitudinal cross-section resembling any closed shape such        as, for example, a circle, a non-circle such as an oval (which        generally can include a shape that is substantially in the form        of an obround, ellipse, limacon, cardioid, cartesian oval,        and/or Cassini oval, etc.), and/or a polygon such as a triangle,        rectangle, square, hexagon, the shape of the letter “D”, the        shape of the letter “P”, etc. Thus, a right circular cylinder is        one form of a tube, an elliptic cylinder is another form of a        tube having an elliptical longitudinal cross-section, and a        generalized cylinder is yet another form of a tube.    -   update—to change and/or make current.    -   upon—on occasion of, during, when, and/or while.    -   user interface—any device for rendering information to a user        and/or requesting information from the user. A user interface        includes at least one of textual, graphical, audio, video,        animation, and/or haptic elements. A textual element can be        provided, for example, by a printer, monitor, display,        projector, etc. A graphical element can be provided, for        example, via a monitor, display, projector, and/or visual        indication device, such as a light, flag, beacon, etc. An audio        element can be provided, for example, via a speaker, microphone,        and/or other sound generating and/or receiving device. A video        element or animation element can be provided, for example, via a        monitor, display, projector, and/or other visual device. A        haptic element can be provided, for example, via a very low        frequency speaker, vibrator, tactile stimulator, tactile pad,        simulator, keyboard, keypad, mouse, trackball, joystick,        gamepad, wheel, touchpad, touch panel, pointing device, and/or        other haptic device, etc. A user interface can include one or        more textual elements such as, for example, one or more letters,        number, symbols, etc. A user interface can include one or more        graphical elements such as, for example, an image, photograph,        drawing, icon, window, title bar, panel, sheet, tab, drawer,        matrix, table, form, calendar, outline view, frame, dialog box,        static text, text box, list, pick list, pop-up list, pull-down        list, menu, tool bar, dock, check box, radio button, hyperlink,        browser, button, control, palette, preview panel, color wheel,        dial, slider, scroll bar, cursor, status bar, stepper, and/or        progress indicator, etc. A textual and/or graphical element can        be used for selecting, programming, adjusting, changing,        specifying, etc. an appearance, background color, background        style, border style, border thickness, foreground color, font,        font style, font size, alignment, line spacing, indent, maximum        data length, validation, query, cursor type, pointer type,        autosizing, position, and/or dimension, etc. A user interface        can include one or more audio elements such as, for example, a        volume control, pitch control, speed control, voice selector,        and/or one or more elements for controlling audio play, speed,        pause, fast forward, reverse, etc. A user interface can include        one or more video elements such as, for example, elements        controlling video play, speed, pause, fast forward, reverse,        zoom-in, zoom-out, rotate, and/or tilt, etc. A user interface        can include one or more animation elements such as, for example,        elements controlling animation play, pause, fast forward,        reverse, zoom-in, zoom-out, rotate, tilt, color, intensity,        speed, frequency, appearance, etc. A user interface can include        one or more haptic elements such as, for example, elements        utilizing tactile stimulus, force, pressure, vibration, motion,        displacement, temperature, etc.    -   utilize—to use and/or put into service.    -   variation—the act, process, or result of varying and/or        changing.    -   vector—an expression characterized by a magnitude and a        direction.    -   velocity—a translational speed.    -   via—by way of and/or utilizing.    -   water—a substance expressed chemically as H₂O and/or potentially        comprising one or more other substances, such as floating        objects, miscible and/or non-miscible liquids, dissolved solids,        and/or dissolved gases, etc.    -   wherein—in regard to which; and; and/or in addition to.    -   which—a pronoun adapted to be used in clauses to represent a        specified antecedent.    -   while—for as long as, during the time that, and/or at the same        time that.    -   wing—an airfoil whose principal function is providing lift        and/or something that resembles a wing in appearance, function,        and/or position relative to a main body.    -   with—accompanied by, in support of, and/or in the same direction        as.    -   within—inside the limits of.    -   zone—an area and/or region.        Note

Various substantially and specifically practical and useful exemplaryembodiments are described herein, textually and/or graphically,including the best mode, if any, known to the inventor(s), forimplementing the described subject matter by persons having ordinaryskill in the art. Any of numerous possible variations (e.g.,modifications, augmentations, embellishments, refinements, and/orenhancements, etc.), details (e.g., species, aspects, nuances, and/orelaborations, etc.), and/or equivalents (e.g., substitutions,replacements, combinations, and/or alternatives, etc.) of one or moreembodiments described herein might become apparent upon reading thisdocument to a person having ordinary skill in the art, relying uponhis/her expertise and/or knowledge of the entirety of the art andwithout exercising undue experimentation. The inventor(s) expectsskilled artisans to implement such variations, details, and/orequivalents as appropriate, and the inventor(s) therefore intends forthe described subject matter to be practiced other than as specificallydescribed herein. Accordingly, as permitted by law, the describedsubject matter includes and covers all variations, details, andequivalents of that described subject matter. Moreover, as permitted bylaw, every combination of the herein described characteristics,functions, activities, substances, and/or structural elements, and allpossible variations, details, and equivalents thereof, is encompassed bythe described subject matter unless otherwise clearly indicated herein,clearly and specifically disclaimed, or otherwise clearly contradictedby context.

The use of any and all examples, or exemplary language (e.g., “such as”)provided herein, is intended merely to better illuminate one or moreembodiments and does not pose a limitation on the scope of any describedsubject matter unless otherwise stated. No language herein should beconstrued as indicating any described subject matter as essential to thepractice of the described subject matter.

Thus, regardless of the content of any portion (e.g., title, field,background, summary, description, abstract, drawing figure, etc.) ofthis document, unless clearly specified to the contrary, such as viaexplicit definition, assertion, or argument, or clearly contradicted bycontext, with respect to any claim, whether of this document and/or anyclaim of any document claiming priority hereto, and whether originallypresented or otherwise:

-   -   there is no requirement for the inclusion of any particular        described characteristic, function, activity, substance, or        structural element, for any particular sequence of activities,        for any particular combination of substances, or for any        particular interrelationship of elements;    -   no described characteristic, function, activity, substance, or        structural element is “essential”;    -   any two or more described substances can be mixed, combined,        reacted, separated, and/or segregated;    -   any described characteristics, functions, activities,        substances, and/or structural elements can be integrated,        segregated, and/or duplicated;    -   any described activity can be performed manually,        semi-automatically, and/or automatically;    -   any described activity can be repeated, any activity can be        performed by multiple entities, and/or any activity can be        performed in multiple jurisdictions; and    -   any described characteristic, function, activity, substance,        and/or structural element can be specifically excluded, the        sequence of activities can vary, and/or the interrelationship of        structural elements can vary.

The use of the terms “a”, “an”, “said”, “the”, and/or similar referentsin the context of describing various embodiments (especially in thecontext of any claims presented herein or in any document claimingpriority hereto) are to be construed to cover both the singular and theplural, unless otherwise indicated herein or clearly contradicted bycontext.

The terms “comprising,” “having,” “including,” and “containing” are tobe construed as open-ended terms (i.e., meaning “including, but notlimited to,”) unless otherwise noted.

When any number or range is described herein, unless clearly statedotherwise, that number or range is approximate. Recitation of ranges ofvalues herein are merely intended to serve as a shorthand method ofreferring individually to each separate value falling within the range,unless otherwise indicated herein, and each separate value and eachseparate subrange defined by such separate values is incorporated intoand clearly implied as being presented within the specification as if itwere individually recited herein. For example, if a range of 1 to 10 isdescribed, even implicitly, unless otherwise stated, that rangenecessarily includes all values therebetween, such as for example, 1.1,2.5, 3.335, 5, 6.179, 8.9999, etc., and includes all subrangestherebetween, such as for example, 1 to 3.65, 2.8 to 8.14, 1.93 to 9,etc.

When any phrase (i.e., one or more words) described herein or appearingin a claim is followed by a drawing element number, that drawing elementnumber is exemplary and non-limiting on the description and claim scope.

No claim of this document or any document claiming priority hereto isintended to invoke paragraph six of 35 USC 112 unless the precise phrase“means for” is followed by a gerund.

Any information in any material (e.g., a United States patent, UnitedStates patent application, book, article, etc.) that has beenincorporated by reference herein, is incorporated by reference herein inits entirety to its fullest enabling extent permitted by law yet only tothe extent that no conflict exists between such information and theother statements and drawings set forth herein. In the event of suchconflict, including a conflict that would render invalid any claimherein or seeking priority hereto, then any such conflicting informationin such material is specifically not incorporated by reference herein.

Within this document, and during prosecution of any patent applicationrelated hereto (including any patent application claiming priorityhereto) any reference to any claimed subject matter is intended toreference the precise language of the then-pending claimed subjectmatter at that particular point in time only.

Accordingly, every portion (e.g., title, field, background, summary,description, abstract, drawing figure, etc.) of this document, and anyprovided definitions of the phrases used herein, is to be regarded asillustrative in nature, and not as restrictive. The scope of subjectmatter protected by any claim of any patent that issues based on thisdocument is defined and limited only by the precise language of thatclaim (and all legal equivalents thereof) and any provided definition ofany phrase used in that claim, as informed by the context of thisdocument.

What is claimed is:
 1. A device comprising: a substantially cylindrical sonobuoy glide harness adapted to: be operably connected to a substantially cylindrical sonobuoy internal module to form a sonobuoy vehicle, the sonobuoy vehicle adapted to launch from a sonobuoy launch container that defines a sonobuoy launch container inner diameter, the sonobuoy vehicle defining a sonobuoy vehicle length and a sonobuoy vehicle outer diameter; and operatively replace a substantially cylindrical external housing that is operatively adapted to substantially surround the sonobuoy internal module, the external housing defining an external housing length and an external housing outer diameter, the sonobuoy vehicle length not exceeding the external housing length, the sonobuoy vehicle outer diameter not exceeding the sonobuoy launch container inner diameter; the sonobuoy glide harness comprising: a stabilization parachute adapted to provide stabilization of the sonobuoy vehicle while the sonobuoy vehicle is in flight; a stabilization parachute ejection mechanism adapted to, while the sonobuoy vehicle is in flight, release the stabilization parachute from the sonobuoy vehicle; a plurality of deployable aerodynamic control surfaces; an actuation system operatively adapted to deploy the plurality of deployable aerodynamic control surfaces during and/or after launch of the sonobuoy vehicle from a flying aircraft; a guidance system operatively adapted to provide a dynamically determined, substantially controlled, and substantially guided descent of the sonobuoy vehicle from a release altitude, latitude, and longitude located within a predetermined release zone and toward a predetermined sonobuoy water entry zone that is defined by a predetermined range of water entry longitudes and a predetermined range of water entry latitudes; and an aerodynamic control surface ejection mechanism adapted to substantially simultaneously release the aerodynamic control surfaces from the sonobuoy vehicle and deploy a terminal parachute.
 2. The device of claim 1, wherein: the sonobuoy launch container is adapted to substantially fit within a launch tube of the flying aircraft.
 3. The device of claim 1, wherein: the sonobuoy vehicle lacks an onboard source of thrust.
 4. The device of claim 1, wherein: the actuation system is operatively adapted to utilize an aerodynamic force on the sonobuoy vehicle to deploy at least one deployable aerodynamic control surface from the plurality of deployable aerodynamic control surfaces.
 5. The device of claim 1, wherein: the plurality of deployable aerodynamic control surfaces comprises a main wing that, upon deployment, is adapted to be moved from a stowed orientation that is substantially parallel to a direction of travel of the sonobuoy vehicle to a deployed orientation that is substantially perpendicular to the direction of travel of the sonobuoy vehicle.
 6. The device of claim 1, wherein: the plurality of deployable aerodynamic control surfaces comprises a main wing and one or more tail surfaces adapted to be removed at the end of the guided descent and prior to touchdown.
 7. The device of claim 1, wherein: the plurality of deployable aerodynamic control surfaces comprises one or more tail control surfaces that, upon deployment from a rear of the sonobuoy glide harness, are each adapted to be moved from a stowed orientation that is substantially parallel to a direction of travel of the sonobuoy vehicle to a respective deployed orientation that is substantially perpendicular to the direction of travel of the sonobuoy vehicle.
 8. The device of claim 1, wherein: the plurality of deployable aerodynamic control surfaces comprises a main wing and one or more tail control surfaces adapted to lock into a deployed state.
 9. The device of claim 1, wherein: the plurality of deployable aerodynamic control surfaces comprises one or more tail control surfaces that are attached to an actuator device and adapted to, after deploying out substantially perpendicular to a direction of travel of the sonobuoy vehicle, rotate into the direction of travel and be operatively controlled by the actuation device.
 10. The device of claim 1, wherein: the guidance system comprises an information device located in the sonobuoy glide harness.
 11. The device of claim 1, wherein: the guidance system is adapted to operatively adapt a flight path of the sonobuoy vehicle responsive to an altitude, velocity, azimuth, and/or flight path angle of the flying aircraft.
 12. The device of claim 1, wherein: the guidance system is adapted to produce a continuously updated plurality of longitudinal control commands and lateral control commands, each command adapted to correct an orientation of the sonobuoy vehicle for line-of-sight guidance to the predefined water entry zone while tracking an equilibrium glide condition.
 13. The device of claim 1, wherein: the guidance system is operatively adapted to utilize multi-phase longitudinal control to provide sink rate control, an optimal flight path angle for a given current bank angle of the sonobuoy vehicle, and/or an equilibrium glide condition.
 14. The device of claim 1, wherein: the guidance system is operatively adapted to provide roll angle instructions to align a velocity vector of the sonobuoy vehicle with the water entry zone.
 15. The device of claim 1, wherein: the guidance system is operatively adapted to provide normal acceleration instructions to adjust a sink rate of the sonobuoy vehicle.
 16. The device of claim 1, wherein: the guidance system is operatively adapted to utilize variations in a steepness of a descent path to land the sonobuoy internal module or sonobuoy vehicle in the predetermined sonobuoy water entry zone.
 17. The device of claim 1, wherein: the guidance system is operatively adapted to automatically determine an altitude at which to cause the main wing and one or more tail control surfaces to be separated from the sonobuoy vehicle and the terminal parachute to be deployed.
 18. The device of claim 1, wherein: the guidance system is operatively adapted to minimize an error between a point within the predetermined water entry zone and an actual landing point of the sonobuoy internal module.
 19. The device of claim 1, wherein: the guidance system is operatively adapted to minimize a descent time to achieve touchdown of the sonobuoy internal module.
 20. The device of claim 1, wherein: the guidance system is operatively adapted to maximize an operative range of the sonobuoy vehicle.
 21. The device of claim 1, wherein: the guidance system is operatively adapted to adaptively respond to sonobuoy vehicle performance characteristics and/or environmental conditions that would otherwise prevent the sonobuoy internal module from landing in the predetermined water entry zone.
 22. A method comprising: providing a dynamically determined, substantially controlled, and substantially guided descent of a sonobuoy vehicle from an arbitrary release altitude, latitude, and longitude located within a predetermined release zone and toward a predetermined sonobuoy water entry zone that is defined by a predetermined range of water entry longitudes and a predetermined range of water entry latitudes, the sonobuoy vehicle comprising a substantially cylindrical sonobuoy glide harness adapted to: be operably connected to a substantially cylindrical sonobuoy internal module to form the sonobuoy vehicle, the sonobuoy vehicle adapted to launch from a sonobuoy launch container that defines a sonobuoy launch container inner diameter, the sonobuoy vehicle defining a sonobuoy vehicle length and a sonobuoy vehicle outer diameter; and operatively replace a substantially cylindrical external housing that is operatively adapted to substantially surround the sonobuoy internal module, the external housing defining an external housing length and an external housing outer diameter, the sonobuoy vehicle length not exceeding the external housing length, the sonobuoy vehicle outer diameter not exceeding the sonobuoy launch container inner diameter; wherein the sonobuoy glide harness comprises: a stabilization parachute adapted to provide stabilization of the sonobuoy vehicle while the sonobuoy vehicle is in flight; a stabilization parachute ejection mechanism adapted to, while the sonobuoy vehicle is in flight, release the stabilization parachute from the sonobuoy vehicle; a plurality of deployable aerodynamic control surfaces; an actuation system operatively adapted to deploy the plurality of deployable aerodynamic control surfaces during and/or after launch of the sonobuoy vehicle from a flying aircraft; a guidance system operatively adapted to provide the dynamically determined, substantially controlled, and substantially guided descent of the sonobuoy vehicle from the arbitrary release altitude, latitude, and longitude located within the predetermined release zone and toward the predetermined sonobuoy water entry zone that is defined by the predetermined range of water entry longitudes and the predetermined range of water entry latitudes; and an aerodynamic control surface ejection mechanism adapted to substantially simultaneously release the aerodynamic control surfaces from the vehicle and deploy a terminal parachute.
 23. A machine-readable medium storing machine-implementable instructions for activities comprising: providing a dynamically determined, substantially controlled, and substantially guided descent of the sonobuoy vehicle from an arbitrary release altitude, latitude, and longitude located within a predetermined release zone and toward a predetermined sonobuoy water entry zone that is defined by a predetermined range of water entry longitudes and a predetermined range of water entry latitudes, the sonobuoy vehicle comprising a substantially cylindrical sonobuoy glide harness adapted to: be operably connected to a substantially cylindrical sonobuoy internal module to form the sonobuoy vehicle, the sonobuoy vehicle adapted to launch from a sonobuoy launch container that defines a sonobuoy launch container inner diameter, the sonobuoy vehicle defining a sonobuoy vehicle length and a sonobuoy vehicle outer diameter; and operatively replace a substantially cylindrical external housing that is operatively adapted to substantially surround the sonobuoy internal module, the external housing defining an external housing length and an external housing outer diameter, the sonobuoy vehicle length not exceeding the external housing length, the sonobuoy vehicle outer diameter not exceeding the sonobuoy launch container inner diameter; wherein the sonobuoy glide harness comprises: a stabilization parachute adapted to provide stabilization of the sonobuoy vehicle while the sonobuoy vehicle is in flight; a stabilization parachute ejection mechanism adapted to, while the sonobuoy vehicle is in flight, release the stabilization parachute from the sonobuoy vehicle; a plurality of deployable aerodynamic control surfaces; an actuation system operatively adapted to deploy the plurality of deployable aerodynamic control surfaces during and/or after launch of the sonobuoy vehicle from a flying aircraft; a guidance system operatively adapted to provide the dynamically determined, substantially controlled, and substantially guided descent of the sonobuoy vehicle from the arbitrary release altitude, latitude, and longitude located within the predetermined release zone and toward the predetermined sonobuoy water entry zone that is defined by the predetermined range of water entry longitudes and the predetermined range of water entry latitudes; and an aerodynamic control surface ejection mechanism adapted to substantially simultaneously release the aerodynamic control surfaces from the vehicle and deploy a terminal parachute.
 24. A circuit comprising: a guidance sub-circuit adapted to provide a dynamically determined, substantially controlled, and substantially guided descent of the sonobuoy vehicle from an arbitrary release altitude, latitude, and longitude located within a predetermined release zone and toward a predetermined sonobuoy water entry zone that is defined by a predetermined range of water entry longitudes and a predetermined range of water entry latitudes, the sonobuoy vehicle comprising a substantially cylindrical sonobuoy glide harness adapted to: be operably connected to a substantially cylindrical sonobuoy internal module to form the sonobuoy vehicle, the sonobuoy vehicle adapted to launch from a sonobuoy launch container that defines a sonobuoy launch container inner diameter, the sonobuoy vehicle defining a sonobuoy vehicle length and a sonobuoy vehicle outer diameter; and operatively replace a substantially cylindrical external housing that is operatively adapted to substantially surround the sonobuoy internal module, the external housing defining an external housing length and an external housing outer diameter, the sonobuoy vehicle length not exceeding the external housing length, the sonobuoy vehicle outer diameter not exceeding the sonobuoy launch container inner diameter; wherein the sonobuoy glide harness comprises: a stabilization parachute adapted to provide stabilization of the sonobuoy vehicle while the sonobuoy vehicle is in flight; a stabilization parachute ejection mechanism adapted to, while the sonobuoy vehicle is in flight, release the stabilization parachute from the sonobuoy vehicle; a plurality of deployable aerodynamic control surfaces; an actuation system operatively adapted to deploy the plurality of deployable aerodynamic control surfaces during and/or after launch of the sonobuoy vehicle from a flying aircraft; a guidance system operatively adapted to provide the dynamically determined, substantially controlled, and substantially guided descent of the sonobuoy vehicle from the arbitrary release altitude, latitude, and longitude located within the predetermined release zone and toward the predetermined sonobuoy water entry zone that is defined by the predetermined range of water entry longitudes and the predetermined range of water entry latitudes; and an aerodynamic control surface ejection mechanism adapted to substantially simultaneously release the aerodynamic control surfaces from the vehicle and deploy a terminal parachute. 